mirror of https://github.com/Desuuuu/klipper.git
homing: Check homing distance to verify endstop trigger after retract
Instead of checking the endstop trigger directly after a retract move, verify some distance is traveled during the following homing operation. This reduces the amount of synchronization between mcu and host during homing. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
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@ -61,7 +61,8 @@ class CartKinematics:
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homing_state.plan_retract(list(coord), [s], s.homing_speed)
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homing_state.plan_retract(list(coord), [s], s.homing_speed)
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# Home again
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# Home again
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coord[axis] = r2pos
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coord[axis] = r2pos
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homing_state.plan_home(list(coord), homepos, [s], s.homing_speed/2.0)
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homing_state.plan_second_home(
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list(coord), homepos, [s], s.homing_speed/2.0)
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homing_state.plan_calc_position(self.get_homed_position)
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homing_state.plan_calc_position(self.get_homed_position)
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def motor_off(self, move_time):
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def motor_off(self, move_time):
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self.limits = [(1.0, -1.0)] * 3
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self.limits = [(1.0, -1.0)] * 3
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@ -101,7 +101,7 @@ class DeltaKinematics:
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homing_state.plan_retract(list(coord), self.steppers, s.homing_speed)
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homing_state.plan_retract(list(coord), self.steppers, s.homing_speed)
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# Home again
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# Home again
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coord[2] -= s.homing_retract_dist
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coord[2] -= s.homing_retract_dist
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homing_state.plan_home(list(coord), homepos, self.steppers
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homing_state.plan_second_home(list(coord), homepos, self.steppers
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, s.homing_speed/2.0)
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, s.homing_speed/2.0)
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homing_state.plan_calc_position(self.get_homed_position)
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homing_state.plan_calc_position(self.get_homed_position)
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def motor_off(self, move_time):
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def motor_off(self, move_time):
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@ -254,6 +254,8 @@ class GCodeParser:
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if not axes:
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if not axes:
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axes = [0, 1, 2]
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axes = [0, 1, 2]
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homing_state = homing.Homing(self.toolhead, axes)
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homing_state = homing.Homing(self.toolhead, axes)
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if self.inputfile:
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homing_state.set_no_verify_retract()
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self.toolhead.home(homing_state)
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self.toolhead.home(homing_state)
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def axes_update(homing_state):
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def axes_update(homing_state):
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newpos = self.toolhead.get_position()
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newpos = self.toolhead.get_position()
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@ -10,20 +10,25 @@ class Homing:
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def __init__(self, toolhead, changed_axes):
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def __init__(self, toolhead, changed_axes):
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self.toolhead = toolhead
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self.toolhead = toolhead
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self.changed_axes = changed_axes
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self.changed_axes = changed_axes
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self.verify_retract = True
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self.eventtime = 0.
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self.eventtime = 0.
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self.states = []
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self.states = []
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self.endstops = []
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self.endstops = []
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def set_no_verify_retract(self):
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self.verify_retract = False
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def set_axes(self, axes):
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def set_axes(self, axes):
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self.changed_axes = axes
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self.changed_axes = axes
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def get_axes(self):
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def get_axes(self):
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return self.changed_axes
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return self.changed_axes
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def plan_home(self, forcepos, movepos, steppers, speed):
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def plan_home(self, forcepos, movepos, steppers, speed):
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self.states.append((self.do_home, (forcepos, movepos, steppers, speed)))
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self.states.append((self.do_home, (forcepos, movepos, steppers, speed)))
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self.states.append((self.do_wait_endstop, ()))
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self.states.append((self.do_wait_endstop, (False,)))
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def plan_second_home(self, forcepos, movepos, steppers, speed):
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self.states.append((self.do_home, (forcepos, movepos, steppers, speed)))
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self.states.append((self.do_wait_endstop, (self.verify_retract,)))
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def plan_retract(self, newpos, steppers, speed):
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def plan_retract(self, newpos, steppers, speed):
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self.states.append((self.do_retract, (newpos, steppers, speed)))
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self.states.append((self.do_retract, (newpos, steppers, speed)))
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self.states.append((self.do_verify_retract, ()))
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def plan_calc_position(self, callback):
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def plan_calc_position(self, callback):
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self.states.append((self.do_calc_position, (callback,)))
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self.states.append((self.do_calc_position, (callback,)))
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def plan_axes_update(self, callback):
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def plan_axes_update(self, callback):
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@ -50,13 +55,7 @@ class Homing:
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thcoord[i] = coord[i]
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thcoord[i] = coord[i]
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return thcoord
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return thcoord
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def do_retract(self, newpos, steppers, speed):
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def do_retract(self, newpos, steppers, speed):
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# Issue a move command
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self.toolhead.move(self.fill_coord(newpos), speed)
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self.toolhead.move(self.fill_coord(newpos), speed)
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# Query endstops
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print_time = self.toolhead.get_last_move_time()
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for s in steppers:
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es = s.query_endstop(print_time)
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self.endstops.append((s.name, es))
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return False
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return False
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def do_home(self, forcepos, movepos, steppers, speed):
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def do_home(self, forcepos, movepos, steppers, speed):
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# Alter kinematics class to think printer is at forcepos
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# Alter kinematics class to think printer is at forcepos
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@ -65,37 +64,27 @@ class Homing:
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print_time = self.toolhead.get_last_move_time()
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print_time = self.toolhead.get_last_move_time()
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for s in steppers:
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for s in steppers:
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es = s.enable_endstop_checking(print_time, s.step_dist / speed)
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es = s.enable_endstop_checking(print_time, s.step_dist / speed)
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self.endstops.append((s.name, es))
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self.endstops.append((s, es, s.mcu_stepper.get_mcu_position()))
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self.toolhead.move(self.fill_coord(movepos), speed)
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self.toolhead.move(self.fill_coord(movepos), speed)
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move_end_print_time = self.toolhead.get_last_move_time()
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move_end_print_time = self.toolhead.get_last_move_time()
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self.toolhead.reset_print_time()
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self.toolhead.reset_print_time()
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for name, es in self.endstops:
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for s, es, last_pos in self.endstops:
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es.home_finalize(es.print_to_mcu_time(move_end_print_time))
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es.home_finalize(es.print_to_mcu_time(move_end_print_time))
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return False
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return False
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def do_wait_endstop(self):
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def do_wait_endstop(self, verify_retract):
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# Check if endstops have triggered
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# Check if endstops have triggered
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while self.endstops:
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while self.endstops:
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name, es = self.endstops[0]
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stepper, es, last_pos = self.endstops[0]
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try:
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try:
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if es.check_busy(self.eventtime):
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if es.check_busy(self.eventtime):
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return True
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return True
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except mcu.MCUError, e:
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except mcu.MCUError, e:
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raise EndstopError("Failed to home stepper %s: %s" % (
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raise EndstopError("Failed to home stepper %s: %s" % (
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name, str(e)))
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stepper.name, str(e)))
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self.endstops.pop(0)
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post_home_pos = stepper.mcu_stepper.get_mcu_position()
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return False
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if verify_retract and last_pos == post_home_pos:
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def do_verify_retract(self):
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while self.endstops:
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name, es = self.endstops[0]
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try:
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if es.check_busy(self.eventtime):
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return True
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except mcu.MCUError, e:
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raise EndstopError("Failed to retract stepper %s: %s" % (
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name, str(e)))
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if es.get_last_triggered():
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raise EndstopError("Endstop %s still triggered after retract" % (
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raise EndstopError("Endstop %s still triggered after retract" % (
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name,))
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stepper.name,))
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self.endstops.pop(0)
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self.endstops.pop(0)
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return False
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return False
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def do_calc_position(self, callback):
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def do_calc_position(self, callback):
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